74 lines
2.5 KiB
C++
74 lines
2.5 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_HH_
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#define _GAZEBO_HH_
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#include <gazebo/gazebo_core.hh>
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#include <string>
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#include <vector>
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \brief Output version information to the terminal.
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GAZEBO_VISIBLE
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void printVersion();
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/// \brief Add a system plugin.
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/// \param[in] _filename Path to the plugin.
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GAZEBO_VISIBLE
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void addPlugin(const std::string &_filename);
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/// \brief Start a gazebo server. This starts transportation, and makes it
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/// possible to create worlds.
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/// \param[in] _argc Number of commandline arguments.
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/// \param[in] _argv The commandline arguments.
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/// \return True on success.
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GAZEBO_VISIBLE
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bool setupServer(int _argc = 0, char **_argv = 0);
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/// \brief Start a gazebo server. This starts transportation, and makes it
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/// possible to create worlds.
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/// \param[in] _args Vector of arguments only parsed by the system plugins.
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/// Note that when you run gazebo/gzserver, all the options (--version,
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/// --server-plugin, etc.) are parsed but when using Gazebo as a library, the
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/// arguments are only parsed by the system plugins.
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/// \sa gazebo::SystemPlugin::Load()
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/// \return True on success.
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GAZEBO_VISIBLE
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bool setupServer(const std::vector<std::string> &_args);
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/// \brief Create and load a new world from an SDF world file.
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/// \param[in] _worldFile The world file to load from.
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/// \return Pointer to the created world. NULL on error.
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GAZEBO_VISIBLE
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gazebo::physics::WorldPtr loadWorld(const std::string &_worldFile);
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/// \brief Run a world for a specific number of iterations.
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/// \param[in] _world Pointer to a world.
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/// \param[in] _iterations Number of iterations to execute.
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GAZEBO_VISIBLE
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void runWorld(gazebo::physics::WorldPtr _world, unsigned int _iterations);
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/// \brief Stop and cleanup simulation.
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/// \return True if the simulation is shutdown; false otherwise.
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GAZEBO_VISIBLE
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bool shutdown();
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}
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#endif
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